Backdrivability Improvement Method Based on Angular Transmission Error in a High Reduction Gear

Author:

Nagano Kenta1,Shimono Tomoyuki1,Fujimoto Yasutaka1

Affiliation:

1. Faculty of Engineering, Yokohama National University

Publisher

Institute of Electrical Engineers of Japan (IEE Japan)

Subject

Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Mechanical Engineering,Energy Engineering and Power Technology,Automotive Engineering

Reference17 articles.

1. (1) K. Atallash, J. Rens, S. Mezani, and D. Howe: “A novel “pseudo” direct-drive brushless permanent magnet machine”, IEEE Trans. on Magnetics, Vol. 44, No. 11, pp. 4349-4352 (2008)

2. (2) I. A. Smadi, H. Omori, and Y. Fujimoto: “Development, analysis and experimental realization of a direct-drive helical motor”, IEEE Trans. on Industrial Electronics, Vol. 59, No. 5, pp. 2208-2216 (2012)

3. (3) A. A. Schäffer, S. Haddadin, C. Ott, A. Stemmer, T. Wimböck, and G. Hirzinger: “The DLR lightweight robot: design and control concepts for robots in human environments”, Industrial Robot, Vol. 34, No. 5, pp. 376-385 (2007)

4. (4) T. Kawakami, K. Ayusawa, H. Kaminaga, and Y. Nakamura: “High-fidelity joint drive system by torque feedback control using high precision linear encoder”, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 3904-2909 (2010)

5. (5) Y. Yokokura, K. Ohishi, K. Saito, and A. Shimamoto: “Torque control of geared motor with load-side torque sensor using acceleration observer”, Proc. IEEJ Int. Workshop on Sensing Actuation and Motion Control, IS6-6 (2015)

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